不平地面上Mecanum轮全方位系统运动学通用模型  

General Kinematics Model of Motion System with Mecanum Wheels on Uneven Floor

作　　者：王一治[1] 钱晋武[1] 常德功[1,2] 

机构地区：[1]上海大学机械电子工程与自动化学院,上海200072 [2]青岛科技大学机电工程学院,青岛266042

出　　处：《机械工程学报》2009年第9期77-81,共5页Journal of Mechanical Engineering

摘　　要：Mecanum轮运动系统无需转向轮能实现平面上全方位运动。具有特殊结构的Mecanum轮全方位系统运行在不平地面上时,轮与地面接触状态是变化的,机体与地面不平度的耦合,使机体存在除平面运动外的附加姿态角运动,因此建立在平面上的三维运动学模型不能描述其运动学特征。为使系统能在具有局部不平度的结构化环境中运行,必须建立在不平地面条件下Mecanum轮系统的运动学模型。通过分类分析轮与地面的接触状态与接触图形,用矢量变换结合笛卡儿坐标变换方法分析给出Mecanum全方位系统在不平地面上运动的六维运动学模型,并分析系统在不平地面上实现全方位行走的条件。分析指出,该六维运动模型既适用于不平地面,也适用于平坦平面,因此该六维运动学模型是一种通用运动模型。Motion system with Mecanum wheels can move in omni-direction on flat floor without needing steering wheels. When it moves on uneven floor, because of the variety of touch state and the coupling between wheels and uneven floor, the system has an additional attitude angle motion besides the plane motion, so the system motion characteristics cannot be described by three-dimensional kinematics model. In order to study the kinematics model which can be applied on uneven floor, the touch state is cataloged and the system motion characteristics are analyzed, then six-dimensional kinematics model is presented according to vector and coordinate transform method and the necessary motion conditions of the Mecanum wheel system are elucidated. It is proved that the six-dimensional kinematics model is suitable not only for plane floor but also for uneven floor, so it is the general kinematics model.

关 键 词：不平地面 MECANUM轮 全方位运动 运动学通用模型 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]